User-interface control using master controller

ABSTRACT

A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.

RELATED APPLICATIONS

This patent application is a continuation of and claims the benefit ofpriority under 35 U.S.C. § 120 to U.S. patent application Ser. No.16/153,405, filed on Oct. 5, 2018, which is a continuation of and claimsthe benefit of priority under 35 U.S.C. § 120 to U.S. patent applicationSer. No. 15/526,696, filed on May 12, 2017, which is a U.S. NationalStage Filing under 35 U.S.C. 371 from International Application No.PCT/US2015/060317, filed on Nov. 12, 2015, and published as WO2016/077543 A1 on May 19, 2016, which claims priority to and the benefitof the filing date of U.S. Provisional Patent Application 62/079,398,filed Nov. 13, 2014, each of which is incorporated by reference hereinin its entirety.

FIELD

Embodiments described herein generally relate to training and inparticular, to systems and methods for controlling a user-interface.

BACKGROUND

Minimally invasive medical techniques are intended to reduce the amountof tissue that is damaged during diagnostic or surgical procedures,thereby reducing patient recovery time, discomfort, and deleterious sideeffects. Teleoperated surgical systems that use robotic technology(so-called surgical robotic systems) may be used to overcome limitationsof manual laparoscopic and open surgery. Advances in telepresencesystems provide surgeons views inside a patient's body, an increasednumber of degrees of motion of surgical instruments, and the ability forsurgical collaboration over long distances.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings, which are not necessarily drawn to scale, like numeralsmay describe similar components in different views. Like numerals havingdifferent letter suffixes may represent different instances of similarcomponents. Some embodiments are illustrated by way of example, and notlimitation, in the figures of the accompanying drawings in which:

FIG. 1 is a schematic drawing illustrating a teleoperated surgicalsystem, according to an embodiment;

FIG. 2A is a drawing illustrating a master assembly, according to anembodiment;

FIG. 2B is a drawing illustrating a master controller of a masterassembly, according to an embodiment;

FIG. 2C is a drawing illustrating an armrest of a master assembly,according to an embodiment;

FIG. 3 illustrates a virtual surgical site according to an embodiment;

FIGS. 4A-4D illustrate user interfaces according to embodiments;

FIG. 5 is a diagram illustrating a viewing plane and a haptic plane,according to an embodiment;

FIG. 6 is a block diagram illustrating a system to control a userinterface of a teleoperated surgical system, according to an embodiment;

FIG. 7A is a flowchart illustrating a method of controlling a userinterface, according to an embodiment;

FIG. 7B is a flowchart illustrating a method of controlling a userinterface, according to an embodiment;

FIG. 8 is a block diagram illustrating a system to control theinteraction between a user-interface of a teleoperated surgical systemand a master controller 804 of the teleoperated surgical system,according to an embodiment;

FIG. 9 is a flowchart illustrating a method of controlling theinteraction between a user-interface of a teleoperated surgical systemand an input device of the teleoperated surgical system, according to anembodiment; and

FIG. 10 is a block diagram illustrating an example machine upon whichany one or more of the techniques (e.g., methodologies) discussed hereinmay perform, according to an example embodiment.

DESCRIPTION OF EMBODIMENTS

The following description is presented to enable any person skilled inthe art to create and use systems and methods of a medical devicesimulator. Various modifications to the embodiments will be readilyapparent to those skilled in the art, and the generic principles definedherein may be applied to other embodiments and applications withoutdeparting from the spirit and scope of the inventive subject matter.Moreover, in the following description, numerous details are set forthfor the purpose of explanation. However, one of ordinary skill in theart will realize that the inventive subject matter might be practicedwithout the use of these specific details. In other instances, wellknown machine components, processes and data structures are shown inblock diagram form in order not to obscure the disclosure withunnecessary detail. Flow diagrams in drawings referenced below are usedto represent processes. A computer system may be configured to performsome of these processes. Modules within flow diagrams representingcomputer-implemented processes represent the configuration of a computersystem according to computer program code to perform the acts describedwith reference to these modules. Thus, the inventive subject matter isnot intended to be limited to the embodiments shown, but is to beaccorded the widest scope consistent with the principles and featuresdisclosed herein.

Teleoperated Surgical System

FIG. 1 is a schematic drawing illustrating a teleoperated surgicalsystem 100, according to an embodiment. The teleoperated surgical system100 includes a surgical manipulator assembly 102 for controllingoperation of a surgical instrument 104 in performing various procedureson a patient 106. The assembly 102 is mounted to or located near anoperating table 108. A master assembly 110 allows a surgeon 112 to viewthe surgical site and to control the manipulator assembly 102.

In alternative embodiments, the teleoperated surgical system 100 mayinclude more than one manipulator assembly 102. The exact number ofmanipulator assemblies will depend on the surgical procedure and thespace constraints within the operating room, among other factors.

The master assembly 110 may be located in the same room as the operatingtable 108. However, it should be understood that the surgeon 112 may belocated in a different room or a completely different building from thepatient 106. The master assembly 110 generally includes one or morecontrol device(s) 114 for controlling the manipulator assembly 102. Thecontrol device(s) 114 may include any number of a variety of inputdevices, such as gravity-balanced arms, joysticks, trackballs, gloves,trigger-grips, hand-operated controllers, hand motion sensors, voicerecognition devices, eye motion sensors, or the like. In someembodiments, the control device(s) 114 may be provided with the samedegrees of freedom as the associated surgical instruments 104 to providethe surgeon 112 with telepresence, or the perception that the controldevice(s) 114 are integral with the instrument 104 so that the surgeon112 has a strong sense of directly controlling the instrument 104. Insome embodiments, the control device 114 is a manual input device thatmoves with six degrees of freedom or more, and which may also include anactuatable handle or other control feature (e.g., one or more buttons,switches, etc.) for actuating instruments (for example, for closinggrasping jaws, applying an electrical potential to an electrode,delivering a medicinal treatment, or the like).

A visualization system 116 provides a concurrent two- orthree-dimensional video image of a surgical site to the surgeon 112 asthe surgeon 112 operates one or more instruments. The visualizationsystem 116 may include a viewing scope assembly such that visual imagesmay be captured by an endoscope positioned within the surgical site. Thevisualization system 116 may be implemented as hardware, firmware,software or a combination thereof which interact with or are otherwiseexecuted by one or more computer processors, which may include theprocessors of a control system 118.

A display system 120 may display a visual image of the surgical site andsurgical instruments 104 captured by the visualization system 116. Thedisplay system 120 and the control devices 114 may be oriented such thatthe relative positions of the visual imaging device in the scopeassembly and the surgical instruments 104 are similar to the relativepositions of the surgeon's eyes and hands so the operator (e.g., surgeon112) may manipulate the surgical instrument 104 with the control devices114 as if viewing a working volume adjacent to the instrument 104 insubstantially true presence. By “true presence” it is meant that thepresentation of an image is a true perspective image simulating theviewpoint of an operator that is physically manipulating the surgicalinstruments 104.

The control system 118 includes at least one processor (not shown) andtypically a plurality of processors for effecting control between thesurgical manipulator assembly 102, the master assembly 110, and thedisplay system 116. The control system 118 also includes softwareprogramming instructions to implement some or all of the methodsdescribed herein. While the control system 118 is shown as a singleblock in the simplified schematic of FIG. 1, the control system 118 maycomprise a number of data processing circuits (e.g., on the surgicalmanipulator assembly 102 and/or on the master assembly 110). Any of awide variety of centralized or distributed data processing architecturesmay be employed. Similarly, the programming code may be implemented as anumber of separate programs or subroutines, or may be integrated into anumber of other aspects of the teleoperated systems described herein. Invarious embodiments, the control system 118 may support wirelesscommunication protocols such as Bluetooth, IrDA, HomeRF, IEEE 802.11,DECT, and Wireless Telemetry.

In some embodiments, the control system 118 may include servocontrollers to provide force and torque feedback from the surgicalinstrument 104 to the control devices 114. Any suitable conventional orspecialized servo controller may be used. A servo controller may beseparate from, or integral with, the manipulator assembly 102.

In some embodiments, the servo controller and the manipulator assembly102 are provided as part of a robotic arm cart positioned adjacent tothe patient 106. The servo controllers transmit signals instructing themanipulator assembly 102 to move the instrument 104, which extends intoan internal surgical site within the patient body via openings in thebody.

For the purposes of this document, the control devices 114 (i.e., userinput elements used to operate the surgical instrument) may be referredas a “master controller” and the surgical instrument 104 may be referredto as a “slave.”

Each manipulator assembly 102 supports at least one surgical instrument104 (e.g., “slave”) and may comprise a series of non-teleoperated,manually articulatable linkages and a teleoperated robotic manipulator.The linkages may be referred to as a set-up structure, which includesone or more links coupled with joints that allows the set-up structureto be positioned and held at a position and orientation in space. Themanipulator assembly 102 may be driven by a series of actuators (e.g.,motors). These motors actively move the teleoperated roboticmanipulators in response to commands from the control system 118. Themotors are further coupled to the surgical instrument 104 so as toadvance the surgical instrument 104 into a naturally or surgicallycreated anatomical orifice and move the surgical instrument 104 andmanipulator assembly 102 in multiple degrees of freedom that may includethree degrees of linear motion (e.g., x, y, and z linear motion) andthree degrees of rotational motion (e.g., roll, pitch, yaw).Additionally, the motors may be used to actuate an effector of thesurgical instrument 104 such as an articulatable effector for graspingtissues in the jaws of a biopsy device or an effector for obtaining atissue sample or for dispensing medicine, or another effector forproviding other treatment as described more fully below, for example.U.S. Pat. No. 6,671,581 (Niemeyer et al.), which is incorporated byreference, contains further information on camera referenced control ina minimally invasive surgical apparatus.

In an embodiment, for training purposes, the display system 120 maydisplay a virtual environment simulating a surgical site within apatient. The virtual environment may include various biologicalstructures in addition to the surgical instrument 104. The surgeon 112operates a virtual instrument within the virtual environment to train,obtain certification, or experiment with various skills or procedureswithout having the possibility of harming a real patient.

In either a live surgery or a simulated surgical procedure, the displaysystem 120 may be used to present a user-interface to a user (e.g., thesurgeon 112). In an embodiment, the display system 120 is athree-dimensional interface, such as a stereo display. In anotherembodiment, the display system 120 is used to project athree-dimensional image, such as from a high-definition endoscopecamera. A user-interface may be displayed as an overlay, such as byusing a translucent interface, or may be displayed in place of the viewof the surgical field.

FIG. 2A is a drawing illustrating a master assembly 110, according to anembodiment. A user may sit at the master assembly 110 and may access adisplay system 202, master controllers 204, and footswitch panel 206.The footswitch panel 206 enables the user to perform various tasks, suchas swapping between various surgical instruments or controlling video orcamera features. While seated at the master assembly 110, the user mayrest their arms on an armrest 208. When operating in a live surgery, thedisplay system 202 displays the surgical field as captured from a camerainserted through a small opening to the surgical site, sometimesreferred to as a portal or a cannula. For training purposes, a simulatedenvironment may be displayed on the display system 202, where thesimulated environment may be a stereoscopic display of a surgical siteand virtual slave surgical instruments. As the user moves the mastercontrollers 204, a virtual surgical instrument may move in acorresponding fashion in the stereoscopic display.

FIG. 2B is a drawing illustrating a master controller 204 of a masterassembly 110, according to an embodiment. The master controller 204includes a handheld part or gimbal. The master controller 204 has anarticulated arm portion including a plurality of members or linksconnected together by pivotal connections or joints. The user gripsfinger loops 210 by positioning his or her thumb and index finger over apincher formation 212. The user's thumb and index finger are typicallyheld on the pincher formation by straps threaded through slots to createthe finger loops 210. When the pincher formation 212 is squeezed betweenthe thumb and index finger, the fingers or other element of the surgicalinstrument 104 move in synchronicity. The joints of the mastercontroller 204 are operatively connected to actuators, e.g., electricmotors, or the like, to provide for, e.g., force feedback, gravitycompensation, and the like. Furthermore, appropriately positionedsensors, e.g., encoders, or potentiometers, or the like, are positionedon each joint of the master controller 204, so as to enable jointpositions of the master controller 204 to be determined by the masterassembly 110 or other control systems in the teleoperated surgicalsystem 100.

In an embodiment, there are two master controllers 204, each with twofinger loops 210 for which the user may insert an index finger and thumbof a respective hand. The two master controllers 204 may each control avirtual surgical instrument. The user may be provided software orhardware mechanisms to swap between multiple instruments for one or bothmaster controller 204. For example, a user may be provided threeinstruments, such as two forceps and a retractor. One or both of theforceps may be an energy instrument able to cauterize tissue. The usermay first use the forceps at each master controller 204, then switch theright master controller 204 to control the retractor to expose a sectionof the surgical field, and then switch the right master controller 204back to the forceps to continue cutting, probing, or dissecting tissue.

While using the master controllers 204, the user is provided with fullthree-dimensional range of motion (x, y, and z axis) along withrotational motion (roll, pitch, yaw) in addition to pinching motion withthe index and thumb (or any two fingers inserted into the loops 210). Assuch, by moving the appropriate master controller 204, the user is ableto manipulate the corresponding surgical instrument through a full rangeof motion.

FIG. 2C is a drawing illustrating an armrest 208 of a master assembly110, according to an embodiment. The armrest 208 may include one moretouch controls, such as touchscreens, soft buttons, mechanical buttons,or the like. In the example illustrated in FIG. 2C, a single touchscreen214 is shown through which the user may configure various video, audio,or other system settings.

Overview of User-Interface Control

During operation, the user may be presented a user interface at varioustimes. For example, a user interface may be presented to allow the userto choose from a selection of training modules. As another example, auser interface may be presented to allow the user to configure variousaspects of the operation of the master assembly 110. When the user hasone or both hands operating a master controller 204, it may beinconvenient to have to release a master controller 204 and then operateanother input mechanism, such as a touchscreen interface integrated intothe armrest 208 of the master assembly 110.

FIG. 3 illustrates a virtual surgical site according to an embodiment.The virtual surgical site 300 may be displayed on the display system 202and includes two virtual slave surgical instruments 302. When operatingin this mode, the master controller 204 is able to move inthree-dimensions in free space (within the boundaries of the virtualsurgical site 300). In a second mode, the master controller 204 isrestricted to movement in a plane or on a surface. The second mode isused when a “flat” user interface is presented to the user. The secondmode is useful to provide an operating space for the master controllers204 that roughly matches the visual interface. In another embodiment,the user interface may be presented in a contoured user interface. Acontoured user interface is a surface, which may include non-planarsurfaces (e.g., curved surfaces).

FIG. 4A illustrates a user interface 400 according to an embodiment. Theuser interface 400 is optionally displayed as an overlay to the surgicalsite view or as a standalone interface. A pointer 402 is displayedwithin the user interface 400 and is used to activate one or more userinterface controls, such as buttons, sliders, option lists, etc. Thepointer 402 may be controlled by a master controller 204. Using theservo controls in the master controller 204, the user may be providedwith haptic feedback to provide a sensation of touching a user interfacecontrol. For example, when the user presses a user interface button,slides a control, or moves a dial in the user interface, the mastercontroller 204 may vibrate, shake, or otherwise react to the actuationof the user interface control to provide the user with sensory feedback.Where FIG. 4A illustrates a login screen, FIG. 4B illustrates a mainmenu screen, FIG. 4C illustrates an exercise selection screen, and FIG.4D illustrates a settings screen. It is understood that more or fewerscreens may be used in the user interface 400. The user interface 400 ispresented as a flat interface (e.g., two-dimensional instead ofthree-dimensional). As such, when the user is controlling a pointer inthe user interface, as opposed to controlling the virtual surgicalinstruments, the user may be constrained to a 2D plane. This may bettersimulate the planar dimensions of the user interface displayed to theuser. If a 3D user interface is provided, then constraints on themovement of the input device (e.g., the master controller 204) may beremoved or modified. Thus, when in the surgical simulation (e.g., afirst mode), the user may have full or nearly full freedom of motion andafter entering a configuration mode (e.g., a second mode) with a userinterface displayed, the user may then be constrained to a plane. Theconstrained plane may be oriented in space such that the user's handsand master controllers 204 are at approximately the same angle as thatdisplayed in the display system 202. Such correlation may assist theuser to orient their hands in 3D space with respect to the userinterface displayed. An example is illustrated in FIG. 5, which shows aviewing plane 502 and a haptic plane 504. The viewing plane 502represents the user interface images perceived by the user in thedisplay system 202. The haptic plane 504 is the plane that the mastercontrollers 204 are constrained within. When a user attempts to move amaster controller 204 “up” or “down” with respect to the z-axis of thehaptic plane 504, the user may encounter resistance from such movement.Should the user change the orientation of the viewing plane 502, such aswith a display configuration setting, then the haptic plane 504 mayadjust to maintain an approximately parallel orientation with respect tothe viewing plane 502. In various embodiments, the haptic plane may beoriented at a fixed or dynamic angle offset with respect to viewingplane. Alternatively, the haptic plane may be oriented with a fixed ordynamic angle offset with respect to the ground. A user may also alterthe constraints, for example, the position or orientation of the hapticplane.

Other restrictions or constraints on movement of the input device (e.g.,the master controller 204) can be implemented to assist the user whileinteracting with the user interface. For example, the master assembly110 may assist the user when interacting with the user interface. As oneexample, the master assembly 110 or other portions of the teleoperatedsurgical system 100 may detect when a user is about to click a button orcontrol in a user interface. After detecting that the user is about toclick, the teleoperated surgical system 100 slows cursor movement toenhance precision. This may reduce or eliminate false clicks.Alternately, the intent of the user to click is detected in advance ofthe click actuation and the master controllers 204 is partially orcompletely locked to improve accuracy and precision of clicking orselecting a user interface element. Thus, either the cursor movementand/or the master controller 204 movements may be restricted or slowed.The intent to click is inferred from various changes in input, such asthe position or movement of a pincher formation 212. As the user beginsto close their fingers in the pincher formation 212 to effect a click ina user interface, the system can restrict motion in the master assembly110 or reduce or restrict pointer movement, which increases pointeraccuracy and enhances user interface interaction. The pointer movementin a user interface may decrease as a function of speed or position ofthe pincher formation 212 closing. For example, the pincher formation212 may move a total of 3 cm from a fully open position to a fullyclosed position. In a linear, exponential, or logarithmic manner, thespeed of the pointer movement may decrease as a function of the amountthe pincher formation 212 has closed. Thus, for example, when thepincher formation 212 achieves an open position of 1.5 cm, the speed ofpointer movement may be decreased by 50% when using a linear function.

In another example, the user may “click” by pressing a foot pedal in thefootswitch panel 206. The pedal position may be used to slow or stop apointer or cursor's movement in the user interface, similar to themechanics used with the master controllers 204.

In another example, the user may “click” a user interface element bypressing the master into the 2D plane. The user interface element, suchas a button, may provide resistance to the user via the mastercontrollers 204 to simulate a physical button press (e.g., resist to apoint, then release).

In another example, the user's master controllers 204 may be moved to adefault position in the user interface during an event. For example,when a user is provided a dialog box to accept or deny an action, thepointer may be moved to a default selection (e.g., accept) and themaster controllers 204 may be moved to a corresponding position in theiroperating space. As another example, instead of moving the pointerdirectly to a user interface element, the user may be provided asuggestion by pushing the pointer (and master controllers 204) in thedirection of a default user interface element. Similarly, the mastercontrollers 204 can be controlled to resist movement away from a defaultuser interface element. As such, when a user attempts to move the mastercontroller 204 in a manner to move the pointer away from the userinterface control, the master controller 204 provides haptic feedback,such as vibration or moderate resistance, the indicate to the user thatthe user interface has a suggested or recommended default user interfacecontrol.

In another example, the user may implement both master controllers 204to simulate multi-touch or gestural input mechanisms. The mastercontrollers 204 may be used to scroll, zoom, pan, rotate, or otherwisemanipulate the view of the user interface. For example, the user mayactuate both master controllers 204 by pinching the finger controlstogether on each master controller 204 and then move the mastercontrollers 204 away from one another to zoom out. A similar motion maybe used to zoom in, such as by actuating the master controllers 204 andmoving them closer together. Panning and rotating may be implemented byactuating both controllers 204 and swiping left or right, or by movingthem clockwise or counterclockwise around each other. Scrolling may beimplemented by swiping in an upward or downward direction to move theview in the user interface up or down (this may be inverted based onuser preference, such that by swiping upward, the view moves down andvice versa). One mode of scrolling simulates “grabbing” the thumb withina scrollbar to maneuver the viewable contents up or down in the view andthe other mode of scrolling simulates “grabbing” the view and moving itup to see the contents that are lower on the user interface (and viceversa). Various content may be panned, scrolled, or otherwisepositioned, such as windows, menus, dialog boxes, or other userinterface elements.

Using the master controllers 204, a user may manipulate the position ofa user interface overlay. For example, the user may change the positionof a dialog box, menu system, modal box, or other user interface elementby grabbing a title bar, using a particular gesture, or activating aparticular user interface control (e.g., a button).

In another example, scrolling may be implemented by rotating the pincherformation 212 on a master controller 204. Zooming, panning, and otheruser interface controls may also be implemented using the rotatingmotion of the pincher formation 212.

When interacting with user interface controls, the master controllers204 can provide haptic feedback to the user in order to simulate tactileuser interface controls. For example, a slider user interface controlmay include notches such that when a slider thumb is moved into a notch,a slight vibration is applied to the master controller 204 to providetactile feedback. As another example, when a button user interfacecontrol is pressed, the master controller 204 provides resistance to theuser's action, until a breaking point, at which there is a release andthe button is pressed. Such haptic feedback is used to better simulatephysical properties of the user interface controls.

FIG. 6 is a block diagram illustrating a system 600 to control a userinterface of a teleoperated surgical system 602, according to anembodiment. The system 600 includes a first master controller 604communicatively coupled to the teleoperated surgical system 602.

The system 600 also includes a display device 606 communicativelycoupled to the teleoperated surgical system and configured to display agraphical user interface (i.e., a user interface for interacting withand/or configuring system 600 itself, rather than a user interface forviewing and/or interacting with the actual or simulated surgicalenvironment). In an embodiment, the first master controller 604 isconfigured to transmit a first input signal to an interface controller608, the first input signal caused by manual manipulation of the firstmaster controller 604, the interface controller 608 to use the firstinput signal to update a graphical user interface presented by thedisplay device 606.

In an embodiment, the interface controller 608 is configured to providefeedback to the first master controller 604 corresponding to the updateof the graphical user interface. In a further embodiment, to providefeedback, the interface controller 608 causes the first mastercontroller 604 to vibrate. In a further embodiment, the interfacecontroller 608 is configured to constrain the first master controller604 to an operating space and cause the first master controller 604 tovibrate when the first master controller 604 encounters a boundary ofthe operating space. For example, the operating space may be theboundaries of a user interface presented on the display device 606. Asanother example, the operating space may be the boundaries of thevisible area in the displayed environment.

In an embodiment, the graphical user interface comprises a userinterface element, and vibrating the first master controller 604 isperformed in conjunction with interaction with the user interfaceelement. In an embodiment, the user interface element comprises abutton, and vibrating the first master controller 604 is performed whenthe button is depressed. In an embodiment, the user interface elementcomprises a slider, and vibrating the first master controller 604 isperformed when the slider is moved.

In an embodiment, the graphical user interface comprises a userinterface element, where the user interface element comprises a button,and the feedback comprises using force feedback to provide resistance tothe first master controller 604 when the button is depressed.

In an embodiment, the graphical user interface comprises a plurality ofuser interface elements where one of the plurality of user interfaceelements comprises a default user interface element, and the feedbackcomprises using force feedback to nudge the first master controller 604toward a location corresponding to the default user interface element.

In an embodiment, the system 600 includes a second master controller 610communicatively coupled to the teleoperated surgical system 602 totransmit a second input signal to the interface controller 608, thesecond input signal caused by manual manipulation of the second mastercontroller 610, the second input signal used by the interface controller608 in conjunction with the first input signal to control the graphicaluser interface.

In an embodiment, the first input signal is caused by a rotating motionof the first master controller 604 and updating the graphical userinterface comprises rotating a portion of the graphical user interface.

In an embodiment, to receive the first input signal from the firstmaster controller 604, the interface controller 608 receives arotational signal indicating that a portion of the first mastercontroller 604 is manually rotated by an amount of rotation. In such anembodiment, updating the graphical user interface comprises scrolling aportion of the graphical user interface based on the amount of rotation.

In an embodiment, the first input signal is caused by a rotating motionof a portion of the first master controller 604, such as the pincher. Insuch an embodiment, updating the graphical user interface comprisesrotating a portion of the graphical user interface. In a furtherembodiment, the rotating the portion of the graphical user interface isperformed as a function of the rotating motion.

In an embodiment, the first input signal is caused by a manual pinchingmotion of a portion of the first master controller 604, and updating thegraphical user interface comprises zooming a portion of the graphicaluser interface. In a further embodiment, the zooming is performed as afunction of the pinching motion.

FIG. 7A is a flowchart illustrating a method 700 of controlling a userinterface, according to an embodiment. At block 702, a first inputsignal from a first master controller communicatively coupled to theteleoperated surgical system is received at a teleoperated surgicalsystem, the first input signal to control an aspect of a graphical userinterface presented by the teleoperated surgical system.

At block 704, the graphical user interface is updated based on the firstinput signal.

In a further embodiment, the method 700 comprises providing feedback tothe first master controller corresponding to the graphical userinterface. In an embodiment, providing feedback comprises vibrating thefirst master controller.

In an embodiment, the first master controller is constrained to anoperating space and vibrating the first master controller is performedwhen the first master controller encounters a boundary of the operatingspace.

In an embodiment, the graphical user interface comprises a userinterface element and vibrating the first master controller is performedin conjunction with interaction with the user interface element.

In an embodiment, the user interface element comprises a button, andvibrating the first master controller is performed when the button isdepressed. In an embodiment, the user interface element comprises aslider, wherein vibrating the first master controller is performed whenthe slider is moved.

In an embodiment, the graphical user interface comprises a userinterface element, where the user interface element comprises a button,and providing feedback comprises using force feedback to provideresistance to the first master controller when the button is depressed.

In an embodiment, the graphical user interface comprises a plurality ofuser interface elements where one of the plurality of user interfaceelements comprises a default user interface element, and providingfeedback comprises using force feedback to nudge the master controllertoward a location corresponding to the default user interface element.

FIG. 7B is a flowchart illustrating a method of controlling a userinterface, according to an embodiment. A method 750 includes receivingat block 752 at the teleoperated surgical system, a first input signalfrom a first master controller communicatively coupled to theteleoperated surgical system, and a second input signal from a secondmaster controller communicatively coupled to the teleoperated surgicalsystem, the second input signal to work in conjunction with the firstinput signal to control the aspect of the graphical user interface. Atblock 754, the graphical user interface is updated based on the firstinput signal and the second input signal.

In an embodiment, the first input signal is caused by a rotating motionof the first master controller, and updating the graphical userinterface comprises rotating a portion of the graphical user interface.

In an embodiment, receiving the first input signal from the first mastercontroller comprises receiving a rotational signal indicating that aportion of the first master controller is rotated by an amount ofrotation, and updating the graphical user interface comprises scrollinga portion of the graphical user interface based on the amount ofrotation.

In an embodiment, the first input signal is caused by a rotating motionof a portion of the first master controller, and updating the graphicaluser interface comprises rotating a portion of the graphical userinterface.

In an embodiment, the rotating the portion of the graphical userinterface is performed as a function of the rotating motion.

In an embodiment, the first input signal is caused by a pinching motionof a portion of the first master controller; and updating the graphicaluser interface comprises zooming a portion of the graphical userinterface. In a further embodiment, the zooming is performed as afunction of the pinching motion.

FIG. 8 is a block diagram illustrating a system 800 to control theinteraction between a user-interface of a teleoperated surgical system802 and a master controller 804 of the teleoperated surgical system 802,according to an embodiment. The system 800 includes a first mastercontroller 804 communicatively coupled to the teleoperated surgicalsystem 802. The system 800 also includes a feedback control 806communicatively coupled to the first master controller 804 and a displaydevice 808 communicatively coupled to the teleoperated surgical system802 and configured to display the user interface.

In an embodiment, the feedback control 806 is configured to detect astate of the user interface and restrict the movement of the firstmaster controller 804 based on the state of the user interface.

In an embodiment, the state of the user interface is a two-dimensionaluser interface after having been transitioned from a previous state of athree-dimensional user interface, the two-dimensional user interfaceproviding a viewing plane. In such an embodiment, to restrict themovement of the first master controller 804, the feedback control 806 isconfigured to restrict the first master controller 804 to a planarmovement providing a haptic plane, the haptic plane oriented in space toapproximate the viewing plane.

In an embodiment, the two-dimensional user interface comprises acontoured user interface, and wherein to restrict the movement of thefirst mater controller 804, the feedback control 806 is configured torestrict the first master controller 804 to a haptic shape correspondingto the contoured user interface. For example, if the user interface ispresented as a concave bowl, the master controller 804 may follow thecontour of the bowl shape in the operating space.

In an embodiment, the feedback control 806 is configured to detect thata pointer, such as pointer 402 shown in FIGS. 4A-4D, within the userinterface and controlled by the movement of the first master controller804 approaches an edge of the user interface and provide haptic feedbackto the first master controller 804 in response to the pointerapproaching the edge of the user interface. In a further embodiment, thehaptic plane is bounded to approximate a viewing area of the viewingplane.

In an embodiment, the state of the user interface comprises a pointer inthe user interface hovering over a clickable element of the userinterface, and to restrict the movement of the first master controller,the feedback control 806 is configured to restrict movement of the firstmaster controller 804 to decrease movement of the pointer while over theclickable element. In a further embodiment, to decrease movementcomprises momentarily stopping the pointer while over the clickableelement.

In an embodiment, the feedback control 806 is configured to, while thepointer is over the clickable element, determine that the first mastercontroller is about to be actuated to produce a click.

In an embodiment, the first master controller 804 comprises a pincherformation and determining that the first master controller is about tobe actuated to produce the click comprises detecting a change inposition of the pincher formation. In a further embodiment, the pointermovement is decreased as a function of the change in position of thepincher formation.

In an embodiment, the first master controller 804 operates inthree-dimensions in one mode and the state of the user interface is atwo-dimensional user interface after having been transitioned from aprevious state of a three-dimensional user interface, thetwo-dimensional user interface providing a viewing plane. In such anembodiment, to restrict the movement of the first master controller 804,the feedback control 806 is configured to restrict the first mastercontroller 804 to a planar movement providing a haptic plane, the hapticplane oriented in space to approximate the viewing plane.

In an embodiment, to determine that the first master controller 804 isabout to be actuated to produce the click, the feedback control 806 isconfigured to detect a change in position of the first master controller804 orthogonal to the haptic plane. In a further embodiment, the pointermovement is decreased as a function of the change in position of thefirst master controller 804 with respect to the haptic plane.

In an embodiment, the state of the user interface comprises presenting adefault user interface control option in the user interface, and torestrict the movement of the first master controller 804, the feedbackcontrol 806 is configured to restrict movement of the first mastercontroller 804 except in the direction of the default user interfacecontrol option.

In an embodiment, to restrict movement of the first master controller804 except in the direction of the default user interface controloption, the feedback control 806 is configured to provide hapticfeedback to the first master controller 804 to nudge the first mastercontroller to a position in space corresponding to the default userinterface control option.

In an embodiment, to restrict movement of the first master controller804 except in the direction of the default user interface controloption, the feedback control 806 is configured to provide hapticfeedback to resist movement of the first master controller to move thefirst master controller away from the position of the default userinterface control option.

In an embodiment, the first master controller 804 operates inthree-dimensions in one mode, and the state of the user interface is atwo-dimensional user interface after having been transitioned from aprevious state of a three-dimensional user interface, thetwo-dimensional user interface providing a viewing plane. In such anembodiment, to restrict the movement of the first master controller 804,the feedback control 806 is configured to restrict the first mastercontroller 804 to a planar movement providing a haptic plane, the hapticplane oriented in space to approximate the viewing plane.

FIG. 9 is a flowchart illustrating a method 900 of controlling theinteraction between a user-interface of a teleoperated surgical systemand an input device of the teleoperated surgical system, according to anembodiment. At block 902, a state of the user interface is detected atthe teleoperated surgical system.

At block 904, the movement of the input device is restricted based onthe state of the user interface. In an embodiment, the input devicecomprises a master controller.

In an embodiment, the state of the user interface is a two-dimensionaluser interface after having been transitioned from a previous state of athree-dimensional user interface, the two-dimensional user interfaceproviding a viewing plane; and restricting the movement of the inputdevice comprises restricting the input device to a planar movementproviding a haptic plane, the haptic plane oriented in space toapproximate the viewing plane.

In an embodiment, the two-dimensional user interface comprises acontoured user interface, and wherein restricting the movement of theinput device comprises restricting the input device to a haptic shapecorresponding to the contoured user interface.

In an embodiment, the method 900 includes detecting that a pointerwithin the user interface and controlled by the movement of the inputdevice approaches an edge of the user interface; and providing hapticfeedback to the input device in response to the pointer approaching theedge of the user interface. In an embodiment, the haptic plane isbounded to approximate a viewing area of the viewing plane.

In an embodiment, the state of the user interface comprises a pointer inthe user interface hovering over a clickable element of the userinterface; and restricting the movement of the input device comprisesrestricting movement of the input device to decrease movement of thepointer while over the clickable element. In a further embodiment, todecrease movement comprises momentarily stopping the pointer while overthe clickable element.

In a further embodiment, while the pointer is over the clickableelement, determining that the input device is about to be actuated toproduce a click. In an embodiment, the input device comprises a pincherformation; and determining that the input device is about to be actuatedto produce the click comprises detecting a change in position of thepincher formation. In an embodiment, the pointer movement is decreasedas a function of the change in position of the pincher formation.

In an embodiment, the input device operates in three-dimensions in onemode; and the state of the user interface is a two-dimensional userinterface after having been transitioned from a previous state of athree-dimensional user interface, the two-dimensional user interfaceproviding a viewing plane; and restricting the movement of the inputdevice comprises restricting the input device to a planar movementproviding a haptic plane, the haptic plane oriented in space toapproximate the viewing plane.

In an embodiment, determining that the input device is about to beactuated to produce the click comprises detecting a change in positionof the input device orthogonal to the haptic plane. In a furtherembodiment, the pointer movement is decreased as a function of thechange in position of the input device with respect to the haptic plane.

In an embodiment, the state of the user interface comprises presenting adefault user interface control option in the user interface; andrestricting the movement of the input device comprises restrictingmovement of the input device except in the direction of the default userinterface control option. In a further embodiment, restricting movementof the input device except in the direction of the default userinterface control option comprises: providing haptic feedback to theinput device to nudge the input device to a position in spacecorresponding to the default user interface control option.

In an embodiment, restricting movement of the input device except in thedirection of the default user interface control option comprises:providing haptic feedback to resist movement of the input device to movethe input device away from the position of the default user interfacecontrol option.

In an embodiment, the input device operates in three-dimensions in onemode; and the state of the user interface is a two-dimensional userinterface after having been transitioned from a previous state of athree-dimensional user interface, the two-dimensional user interfaceproviding a viewing plane; and wherein restricting the movement of theinput device comprises restricting the input device to a planar movementproviding a haptic plane, the haptic plane oriented in space toapproximate the viewing plane.

Computer Hardware and Storage Devices

FIG. 10 is a block diagram illustrating an example machine upon whichany one or more of the techniques (e.g., methodologies) discussed hereinmay perform, according to an example embodiment. FIG. 10 shows anillustrative diagrammatic representation of a more particularizedcomputer system 1000. The computer system 1000 can be configured toimplement, for example, a computerized training module. In alternativeembodiments, the computer system 1000 operates as a standalone device ormay be connected (e.g., networked) to other machines. In a networkeddeployment, the computer system 1000 may operate in the capacity of aserver or a client machine in server-client network environment, or as apeer machine in a peer-to-peer (or distributed) network environment. Thecomputer system 1000 may be a server computer, a client computer, apersonal computer (PC), a tablet PC, a Personal Digital Assistant (PDA),a cellular telephone, or any machine capable of executing a set ofinstructions (sequential or otherwise) that specify actions to be takenby that machine. Further, while only a single machine (i.e., computersystem 1000) is illustrated, the term “machine” shall also be taken toinclude any collection of machines that individually or jointly executea set (or multiple sets) of instructions to perform any one or more ofthe methodologies discussed herein.

The example computer system 1000 includes a processor 1002 (e.g., acentral processing unit (CPU), a graphics processing unit (GPU), orboth), a main memory 1004 and a static memory 1006, which communicatewith each other via a bus 1008. The computer system 1000 may furtherinclude a video display unit 1010 (e.g., liquid crystal display (LCD),organic light emitting diode (OLED) display, touch screen, or a cathoderay tube (CRT)) that can be used to display positions of the surgicalinstrument 104 and flexible instrument 120, for example. The computersystem 1000 also includes an alphanumeric input device 1012 (e.g., akeyboard, a physical keyboard, a virtual keyboard using software), acursor control device or input sensor 1014 (e.g., a mouse, a track pad,a trackball, a sensor or reader, a machine readable information reader,bar code reader), a disk drive unit 1016, a signal generation device1018 (e.g., a speaker) and a network interface device or transceiver1020.

The disk drive unit 1016 includes a non-transitory machine-readablestorage device medium 1022 on which is stored one or more sets ofinstructions 1024 (e.g., software) embodying any one or more of themethodologies or functions described herein. The instructions 1024 mayalso reside, completely or at least partially, within the main memory1004, static memory 1006 and/or within the processor 1002 duringexecution thereof by the computer system 1000, the main memory 1004 andthe processor 1002 also constituting non-transitory machine-readablestorage device media.

The non-transitory machine-readable storage device medium 1022 also canstore an integrated circuit design and waveform structures. Theinstructions 1024 may further be transmitted or received over a network1026 via the network interface device or transceiver 1020.

While the machine-readable storage device medium 1022 is shown in anexample embodiment to be a single medium, the term “machine-readablemedium,” “computer readable medium,” and the like should be taken toinclude a single medium or multiple media (e.g., a centralized ordistributed database, and/or associated caches and servers) that storethe one or more sets of instructions 1024. The term “machine-readablemedium” shall also be taken to include any medium that is capable ofstoring, encoding or carrying a set of instructions for execution by themachine and that cause the machine to perform any one or more of themethodologies of the present disclosure. The term “machine-readablemedium” shall accordingly be taken to include, but not be limited to,solid-state memories, optical and magnetic media, and carrier wavesignals.

It will be appreciated that, for clarity purposes, the above descriptionmay describe some embodiments with reference to different functionalunits or processors. However, it will be apparent that any suitabledistribution of functionality between different functional units,processors or domains may be used without detracting from the presentdisclosure. For example, functionality illustrated to be performed byseparate processors or controllers may be performed by the sameprocessor or controller. Hence, references to specific functional unitsare only to be seen as references to suitable means for providing thedescribed functionality, rather than indicative of a strict logical orphysical structure or organization.

Although the present disclosure has been described in connection withsome embodiments, it is not intended to be limited to the specific formset forth herein. One skilled in the art would recognize that variousfeatures of the described embodiments may be combined in accordance withthe present disclosure. Moreover, it will be appreciated that variousmodifications and alterations may be made by those skilled in the artwithout departing from the spirit and scope of the present disclosure.

In addition, in the foregoing detailed description, it can be seen thatvarious features are grouped together in a single embodiment for thepurpose of streamlining the disclosure. This method of disclosure is notto be interpreted as reflecting an intention that the claimedembodiments require more features than are expressly recited in eachclaim. Rather, as the following claims reflect, inventive subject matterlies in less than all features of a single disclosed embodiment. Thusthe following claims are hereby incorporated into the detaileddescription, with each claim standing on its own as a separateembodiment.

The foregoing description and drawings of embodiments in accordance withthe present invention are merely illustrative of the principles of theinventive subject matter. Therefore, it will be understood that variousmodifications can be made to the embodiments by those skilled in the artwithout departing from the spirit and scope of the inventive subjectmatter, which is defined in the appended claims.

Thus, while certain exemplary embodiments of the invention have beendescribed and shown in the accompanying drawings, it is to be understoodthat such embodiments are merely illustrative of and not restrictive onthe broad inventive subject matter, and that the embodiments of theinvention not be limited to the specific constructions and arrangementsshown and described, since various other modifications may occur tothose ordinarily skilled in the art.

What is claimed is:
 1. A master assembly for a teleoperated surgicalsystem comprising: a master controller including a handheld portion andan articulated portion mounted to the master assembly; a display systemmounted to the master assembly; and a control system configured to, in afirst mode, cause display at the display system of a surgical sceneincluding an instrument mounted on a surgical manipulator assembly,control the articulated portion to allow movement of the handheldportion in three dimensions, and generate instrument control signals inresponse to movement of the handheld portion in three dimensions,wherein the instrument control signals effect movement of the instrumentat the surgical manipulator assembly, and in a second mode, causedisplay at the display system of a two dimensional user interfaceincluding a pointer, control the articulated portion to constrainmovement the handheld portion within a two dimensional haptic surface,and generate pointer control signals in response to movement of thehandheld portion within the two dimensional haptic surface, wherein thepointer control signals effect movement of the pointer within the twodimensional user interface.
 2. The master assembly of claim 1, whereinthe articulated portion includes one or more joints; further including:one or more sensors positioned to sense positions of the one or morejoints; wherein the control system configured to, receive sensor inputindicating positions of the one or more joints.
 3. The master assemblyof claim 2, wherein the joint positions change in response to movementof the handheld portion.
 4. The master assembly of claim 1, wherein thearticulated portion includes one or more joints; further including: oneor more actuators operatively coupled to the one or more joints toprovide force feedback to the joints.
 5. The master assembly of claim 4,wherein the joint positions change in response to movement of thehandheld portion.
 6. The master assembly of claim 1, wherein the controlsystem includes a servo controller configured to, in the second mode,cause force and torque feedback from the surgical instrument to thehandheld portion.
 7. The master assembly of claim 6, wherein the jointpositions change in response to movement of the handheld portion.
 8. Themaster assembly of claim 1, wherein the display system is mounted at afixed position relative to the master assembly.
 9. The master assemblyof claim 1, further including: one or more actuators operatively coupledto the one or more joints to provide force and torque feedback from thesurgical instrument to the master controller in the first mode.
 10. Themaster assembly of claim 1, wherein the articulated portion includes oneor more joints; further including: one or more actuators operativelycoupled to the one or more joints to provide force feedback to thejoints to constrain movement of the handheld portion within the twodimensional haptic surface in the second mode.